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/*! ----------------------------------------------------------------------------
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* @file main.c
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* @brief Double-sided two-way ranging (DS TWR) initiator example code
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*
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*
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*
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* @attention
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*
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* Copyright 2015 (c) Decawave Ltd, Dublin, Ireland.
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*
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* All rights reserved.
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*
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* @author Decawave
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*/
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#include <string.h>
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#include <math.h>
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#include "dw_app.h"
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#include "deca_device_api.h"
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#include "deca_regs.h"
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#include "dw_driver.h"
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#include "Spi.h"
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#include "led.h"
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#include "serial_at_cmd_app.h"
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#include "Usart.h"
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#include "global_param.h"
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#include "filters.h"
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#include <stdio.h>
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#include "beep.h"
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#include "modbus.h"
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#include "Module.h"
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#include "Power.h"
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#include "DBG.h"
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#include "Uart.h"
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/*------------------------------------ Marcos ------------------------------------------*/
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/* Inter-ranging delay period, in milliseconds. */
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#define RNG_DELAY_MS 100
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/* Default antenna delay values for 64 MHz PRF. See NOTE 1 below. */
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#define TX_ANT_DLY 0
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#define RX_ANT_DLY 32899
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/* UWB microsecond (uus) to device time unit (dtu, around 15.65 ps) conversion factor.
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* 1 uus = 512 / 499.2 µs and 1 µs = 499.2 * 128 dtu. */
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#define UUS_TO_DWT_TIME 65536
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/* Delay between frames, in UWB microseconds. See NOTE 4 below. */
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/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
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#define POLL_TX_TO_RESP_RX_DLY_UUS 10
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/* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
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* frame length of approximately 2.66 ms with above configuration. */
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#define RESP_RX_TO_FINAL_TX_DLY_UUS 910
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/* Receive response timeout. See NOTE 5 below. */
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#define RESP_RX_TIMEOUT_UUS 1000
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#define DELAY_BETWEEN_TWO_FRAME_UUS 240
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#define POLL_RX_TO_RESP_TX_DLY_UUS 770
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/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
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#define RESP_TX_TO_FINAL_RX_DLY_UUS 200
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/* Receive final timeout. See NOTE 5 below. */
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#define FINAL_RX_TIMEOUT_UUS 4300
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#define SPEED_OF_LIGHT 299702547
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/* Indexes to access some of the fields in the frames defined above. */
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#define FINAL_MSG_POLL_TX_TS_IDX 10
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#define FINAL_MSG_RESP_RX_TS_IDX 14
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#define FINAL_MSG_FINAL_TX_TS_IDX 18
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#define FINAL_MSG_TS_LEN 4
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#define STARTPOLL REGPOLL
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#define SWITCHBASE_DIST
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#define SWITCHBASE_ZHUANDIAN
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enum enumtagstate
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{
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REGPOLL=1,
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DISCPOLL,
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GETNEARMSG,
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NEARPOLL,
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SINGLEPOLL,
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}tag_state=STARTPOLL;
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dwt_config_t config = {
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5, /* Channel number. */
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DWT_PRF_64M, /* Pulse repetition frequency. */
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DWT_PLEN_128, /* Preamble length. */
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DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
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9, /* TX preamble code. Used in TX only. */
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9, /* RX preamble code. Used in RX only. */
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1, /* Use non-standard SFD (Boolean) */
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DWT_BR_6M8, /* Data rate. */
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DWT_PHRMODE_STD, /* PHY header mode. */
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(129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
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};
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dwt_config_t config2 = {
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5, /* Channel number. */
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DWT_PRF_64M, /* Pulse repetition frequency. */
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DWT_PLEN_128, /* Preamble length. */
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DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
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9, /* TX preamble code. Used in TX only. */
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9, /* RX preamble code. Used in RX only. */
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1, /* Use non-standard SFD (Boolean) */
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DWT_BR_6M8, /* Data rate. */
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DWT_PHRMODE_STD, /* PHY header mode. */
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(129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
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};
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static uint8_t tx_poll_msg[20] = {0};
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static uint8_t tx_sync_msg[14] = {0};
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static uint8_t tx_final_msg[60] = {0};
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static uint8_t tx_resp_msg[22] = {0};
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uint8_t tx_near_msg[80] = {0};
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static uint32_t frame_seq_nb = 0;
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static uint32_t status_reg = 0;
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static uint8_t rx_buffer[100];
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static uint64_t poll_tx_ts;
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static uint64_t resp_rx_ts;
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static uint64_t final_tx_ts;
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static uint64_t poll_rx_ts;
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static uint64_t resp_tx_ts;
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static uint64_t final_rx_ts;
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static double tof;
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int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS]; ;
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uint32_t tag_id = 0;
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uint32_t tag_id_recv = 0;
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uint32_t anc_id_recv = 0;
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uint8_t random_delay_tim = 0;
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double distance, dist_no_bias, dist_cm;
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uint32_t g_UWB_com_interval = 0;
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float dis_after_filter; //µ±Ç°¾àÀëÖµ
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LPFilter_Frac* p_Dis_Filter; //²â¾àÓõĵÍͨÂ˲¨Æ÷
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u32 id;
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static uint64_t get_tx_timestamp_u64(void)
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{
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uint8_t ts_tab[5];
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uint64_t ts = 0;
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int i;
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dwt_readtxtimestamp(ts_tab);
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for (i = 4; i >= 0; i--)
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{
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ts <<= 8;
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ts |= ts_tab[i];
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}
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return ts;
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}
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static uint64_t get_rx_timestamp_u64(void)
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{
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uint8_t ts_tab[5];
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uint64_t ts = 0;
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int i;
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dwt_readrxtimestamp(ts_tab);
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for (i = 4; i >= 0; i--)
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{
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ts <<= 8;
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ts |= ts_tab[i];
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}
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return ts;
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}
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static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
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{
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int i;
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for (i = 0; i < FINAL_MSG_TS_LEN; i++)
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{
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ts_field[i] = (uint8_t) ts;
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ts >>= 8;
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}
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}
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static void final_msg_get_ts(const uint8_t *ts_field, uint32_t *ts)
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{
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int i;
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*ts = 0;
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for (i = 0; i < FINAL_MSG_TS_LEN; i++)
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{
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*ts += ts_field[i] << (i * 8);
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}
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}
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extern u8 flag_ancupd_start;
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void Dw1000_Init(void)
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{
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/* Reset and initialise DW1000.
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* For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum
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* performance. */
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Reset_DW1000();//ÖØÆôDW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
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Spi_ChangePrescaler(SPIx_PRESCALER_SLOW); //ÉèÖÃΪ¿ìËÙģʽ
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dwt_initialise(DWT_LOADUCODE);//³õʼ»¯DW1000
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Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //ÉèÖÃΪ¿ìËÙģʽ
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id = dwt_readdevid() ;
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/* Configure DW1000. See NOTE 6 below. */
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if(flag_ancupd_start)
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{
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dwt_configure(&config2);//ÅäÖÃDW1000
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}else{
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dwt_configure(&config);//ÅäÖÃDW1000
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}
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dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
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/* Apply default antenna delay value. See NOTE 1 below. */
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dwt_setrxantennadelay(RX_ANT_DLY); //ÉèÖýÓÊÕÌìÏßÑÓ³Ù
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dwt_settxantennadelay(TX_ANT_DLY); //ÉèÖ÷¢ÉäÌìÏßÑÓ³Ù
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dwt_setrxtimeout(1000);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
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dwt_rxenable(0);//´ò¿ª½ÓÊÕ
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/* Set expected response's delay and timeout. See NOTE 4 and 5 below.
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* As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
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//ÉèÖýÓÊÕ³¬Ê±Ê±¼ä
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}
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void Dw1000_App_Init(void)
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{
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//g_com_map[DEV_ID] = 0x0b;
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//tag_state=DISCPOLL;
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tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
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tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
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tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
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tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
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memcpy(&tx_poll_msg[GROUP_ID_IDX], &group_id, 1);
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memcpy(&tx_final_msg[GROUP_ID_IDX], &group_id, 1);
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memcpy(&tx_resp_msg[GROUP_ID_IDX], &group_id, 1);
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memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 2);
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memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 2);
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memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 2);
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memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 2);
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memcpy(&tx_near_msg[ANCHOR_ID_IDX], &dev_id, 2);
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memcpy(&tx_near_msg[TAG_ID_IDX], &dev_id, 2);
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}
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uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
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{
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uint16_t sum = 0;
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uint32_t i;
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for(i=0; i<len; i++)
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sum += pdata[i];
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sum = ~sum;
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return sum;
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}
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u16 tag_time_recv[TAG_NUM_IN_SYS];
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u8 usart_send[400];
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u8 battary,button;
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extern uint8_t g_pairstart;
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void tag_sleep_configuraion(void)
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{
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dwt_configuresleep(0x940, 0x7);
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dwt_entersleep();
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}
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extern uint8_t g_start_send_flag;
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extern uint16_t g_Resttimer;
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uint8_t result;
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u8 tag_succ_times=0;
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int32_t hex_dist;
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u16 checksum;
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int8_t tag_delaytime;
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extern uint16_t sync_timer;
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u16 tmp_time;
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int32_t temp_dist;
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u16 tagslotpos;
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u16 anclist_num=0,anclist_pos; //list ×ÜÊýÁ¿ºÍµ±Ç°Î»ÖÃ
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u16 ancid_list[TAG_NUM_IN_SYS];
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u8 nearbase_num;
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u16 mainbase_id;
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int32_t mainbase_dist;
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uint8_t trygetnearmsg_times;
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u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM];
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u8 FindNearBasePos(u16 baseid)
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{
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u8 i;
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for(i=0;i<nearbase_num;i++)
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{
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if(baseid==nearbaseid_list[i])
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return i;
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}
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}
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u8 recbase_num=0;
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#define CHANGE_BASE_THRESHOLD 5
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uint8_t GetRandomValue(void)
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{
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uint8_t random_value=0,temp_adc,i;
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for(i=0;i<8;i++)
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{
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// temp_adc=Get_ADC_Value();
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random_value=random_value|((temp_adc&0x01)<<i);
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}
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return random_value;
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}
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void UWBSPIWakeup(void)
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{
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uint32_t id;
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uint8_t error_times;
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SPIx_CS_GPIO->BSRR = SPIx_CS<<16;
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delay_us(2700);
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SPIx_CS_GPIO->BSRR = SPIx_CS;
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id = dwt_readdevid() ;
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while (DWT_DEVICE_ID != id)
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{
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// Dw1000_Init();
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id = dwt_readdevid() ;
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IdleTask();
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if(error_times++>20)
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{
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printf("DW ID ERROR.\r\n");
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// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader
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}
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}}
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int32_t mainbase_dist,nearbase_switchdistlist[MAX_NEARBASE_NUM],nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
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u8 anclost_times=0 , mainbase_lost_count=0;
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u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
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u8 flag_finalsend,flag_getresponse,flag_rxon;
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uint16_t current_count,start_count,end_count,lastsync_timer;
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extern u16 bigslot_num;
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u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len;
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u32 rec_tagpos_binary;
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int16_t offset=4700,temptimer;
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u8 rec_remotepara_state,rec_remotepara[80];
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#define SINGLEPOLL_BASENUM 3
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uint16_t singlepoll_baseid[ANCHORTYPE_NUM];
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int32_t singlepoll_basedist[ANCHORTYPE_NUM];
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extern u8 userkey_state,stationary_flag,motor_state;
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extern float motor_keeptime;
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uint8_t changemainbase_count=0,gotosleep_flag,singlepoll_i,mindist_concount;
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uint32_t frame_len,mindist_ancid,last_mindist_ancid;
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int32_t salvebase_mindist;
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int16_t intheight;
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u32 minddist = 0x1ffff;
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void Poll(void)
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{
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uint32_t frame_len;
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uint32_t final_tx_time;
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u32 start_poll;
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int32_t mindist=999999,minid=-1,temp_dist;
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u8 i,j,getsync_flag=0;
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dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //ÉèÖ÷¢Ëͺó¿ªÆô½ÓÊÕ£¬²¢É趨ÑÓ³Ùʱ¼ä
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dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
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tag_succ_times = 0;
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minddist = 0x1ffff;
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frame_seq_nb++;
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for(singlepoll_i=0;singlepoll_i<g_com_map[MAX_REPORT_ANC_NUM];singlepoll_i++)
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{
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/* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
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nearbase_num = SINGLEPOLL_BASENUM;
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tx_near_msg[BATTARY_IDX] = bat_percent;
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tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2;
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tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
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tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb)>>8;
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tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
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memcpy(&tx_near_msg[NEARBASEID_INDEX],&singlepoll_baseid,nearbase_num*2);
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memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&singlepoll_basedist,nearbase_num*4+4);
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// intheight+=g_com_map[HEIGHTOFFEST_INDEX];
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memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6],&intheight,2);
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tx_near_msg[MESSAGE_TYPE_IDX] = DISCOVERPOLL;
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singlepoll_basedist[singlepoll_i]= 0x1ffff;
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tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;
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tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
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tx_near_msg[ANCHOR_ID_IDX] = singlepoll_i;
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//memcpy(&tx_near_msg[ANCHOR_ID_IDX],&singlepoll_baseid[singlepoll_i],2);
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dwt_writetxdata(28+6*nearbase_num, tx_near_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
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dwt_writetxfctrl(28+6*nearbase_num, 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
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dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//¿ªÆô·¢ËÍ£¬·¢ËÍÍê³ÉºóµÈ´ýÒ»¶Îʱ¼ä¿ªÆô½ÓÊÕ£¬µÈ´ýʱ¼äÔÚdwt_setrxaftertxdelayÖÐÉèÖÃ
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/* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
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while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//²»¶Ï²éѯоƬ״ֱ̬µ½³É¹¦½ÓÊÕ»òÕß·¢Éú´íÎó
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{
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};
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if(status_reg==0xffffffff)
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{
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// NVIC_SystemReset();
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}
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if (status_reg & SYS_STATUS_RXFCG)//Èç¹û³É¹¦½ÓÊÕ
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{
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dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ¼Ä´æÆ÷±ê־λ
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frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //»ñµÃ½ÓÊÕµ½µÄÊý¾Ý³¤¶È
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dwt_readrxdata(rx_buffer, frame_len, 0); //¶ÁÈ¡½ÓÊÕÊý¾Ý
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if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
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{
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poll_tx_ts = get_tx_timestamp_u64(); //»ñµÃPOLL·¢ËÍʱ¼äT1
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resp_rx_ts = get_rx_timestamp_u64(); //»ñµÃRESPONSE½ÓÊÕʱ¼äT4
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if(getsync_flag==0)
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{
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getsync_flag=1;
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memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
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memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
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// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
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// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
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tmp_time=tmp_time+450;
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if(tmp_time>999)
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{
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tmp_time-=999;
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sync_timer++;
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if(sync_timer>=1010)
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{sync_timer=0;}
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}
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ancsync_time=((sync_timer)*1000+tmp_time);
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last_slotnum=current_slotnum;
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temptimer = sync_timer-10;
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if(temptimer<0)
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{temptimer+=1000;}
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//current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+1;
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if(current_slotnum==last_slotnum-1)
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{flag_getresponse=1;}
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lastsync_timer=sync_timer;
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//offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
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// SetNextPollTime(tagslotpos);
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}
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memcpy(&tx_near_msg[NEARBASEID_INDEX+singlepoll_i*2],&rx_buffer[ANCHOR_ID_IDX],2);
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memcpy(&temp_dist, &rx_buffer[DIST_IDX], 4);
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memcpy(&tx_near_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
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singlepoll_basedist[singlepoll_i] = temp_dist;
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memcpy(&singlepoll_baseid[singlepoll_i], &rx_buffer[ANCHOR_ID_IDX], 2);
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if(temp_dist<minddist)
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{
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minddist = temp_dist;
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memcpy(&mindist_ancid,&rx_buffer[ANCHOR_ID_IDX],2);
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}
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tx_near_msg[MESSAGE_TYPE_IDX] = DISCOVERFINAL;
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/* Compute final message transmission time. See NOTE 9 below. */
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final_tx_time = (resp_rx_ts + (1000 * UUS_TO_DWT_TIME)) >> 8;//????final?????????T5=T4+Treply2
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dwt_setdelayedtrxtime(final_tx_time);//????final?????????T5
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final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final??????????????????????????????delay
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final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//??T1??T4??T5§Õ????????
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final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
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final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
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dwt_writetxdata(25, tx_near_msg, 0);//??????????§Õ??DW1000
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dwt_writetxfctrl(25, 0);//?Ú
???????????
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result=dwt_starttx(DWT_START_TX_DELAYED);//?Ú
???????
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tag_succ_times++;
|
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if(result==0)
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{while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//²»¶Ï²éѯоƬ״ֱ̬µ½·¢ËÍÍê³É
|
{ };
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}
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/* Clear TXFRS event. */
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dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//Çå³ý±ê־λ
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random_delay_tim = 0;
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}
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else
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{
|
// singlepoll_basedist[singlepoll_i] = 0x1ffff;
|
random_delay_tim = DFT_RAND_DLY_TIM_MS; //Èç¹ûͨѶʧ°Ü£¬½«¼ä¸ôʱ¼äÔö¼Ó5ms£¬±Ü¿ªÒòΪ¶à±êǩͬʱ·¢ËÍÒýÆðµÄ³åÍ»¡£
|
}
|
}
|
else
|
{
|
// singlepoll_basedist[singlepoll_i] = 0x1ffff;
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
|
random_delay_tim = DFT_RAND_DLY_TIM_MS;
|
}
|
delay_ms(1);
|
}
|
if(minddist!=0x1ffff)
|
{
|
trygetnearmsg_times = 0;
|
tag_state = GETNEARMSG;
|
mainbase_id = mindist_ancid;
|
}
|
|
if(getsync_flag==0)
|
{
|
// tagslotpos--;
|
if(tagslotpos==0||tagslotpos>max_slotpos)
|
{
|
tagslotpos=max_slotpos;
|
}
|
tyncpoll_time=(tagslotpos-1)*slottime;
|
}
|
// mainbase_id=minid;
|
// mainbase_id = 0x4;
|
}
|
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type,outrange_times;
|
void GetNearMsg(void)
|
{
|
u32 start_poll,frame_len;
|
u8 nearmsg_i=0;
|
for(nearmsg_i=0;nearmsg_i<20;nearmsg_i++)
|
{
|
nearbase_distlist[nearmsg_i] = 0x1ffff;
|
}
|
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
|
memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
|
tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
|
|
dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //ÉèÖ÷¢Ëͺó¿ªÆô½ÓÊÕ£¬²¢É趨ÑÓ³Ùʱ¼ä
|
dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
|
dwt_writetxdata(12, tx_near_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
|
dwt_writetxfctrl(12, 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
|
dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);
|
|
/* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
|
while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//²»¶Ï²éѯоƬ״ֱ̬µ½³É¹¦½ÓÊÕ»òÕß·¢Éú´íÎó
|
{
|
};
|
if(status_reg==0xffffffff)
|
{
|
// NVIC_SystemReset();
|
}
|
if (status_reg & SYS_STATUS_RXFCG)//Èç¹û³É¹¦½ÓÊÕ
|
{
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ¼Ä´æÆ÷±ê־λ
|
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //»ñµÃ½ÓÊÕµ½µÄÊý¾Ý³¤¶È
|
dwt_readrxdata(rx_buffer, frame_len, 0); //¶ÁÈ¡½ÓÊÕÊý¾Ý
|
if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
|
{
|
nearbase_num=rx_buffer[NEARBASENUM_INDEX];
|
memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
|
// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
|
//tagslotpos=rx_buffer[TAGSLOTPOS];
|
memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
|
memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
|
//slottime=ceil((nearbase_num+2)*0.3)+1;
|
//tyncpoll_time=tagslotpos*slottime;
|
//tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
|
tag_state=NEARPOLL;
|
outrange_times = 0;
|
changemainbase_count = 0;
|
mainbase_lost_count = 0;
|
}
|
}else{
|
// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
|
}
|
}
|
extern UART_HandleTypeDef huart1;
|
extern UART_HandleTypeDef huart2;
|
extern UART_HandleTypeDef huart3;
|
|
extern u32 basesystimer;
|
u32 target_time=100;
|
u8 pd_i;
|
u32 temptime,delaytime;
|
u16 delaycount;
|
extern u16 slotpos_intoatl, slotpos;
|
void NextPollDelay(u32 anchor_time)
|
{
|
|
// for(pd_i=0;pd_i<=tag_frequency;pd_i++)
|
// {
|
// slotpos_intoatl = pd_i*bigslot_num+tagslotpos;
|
// temptime = (slotpos_intoatl*SLOTTIME_MS+100)*100;
|
// if(anchor_time<temptime-10000)
|
// {
|
// delaytime = temptime-anchor_time;
|
// target_time = basesystimer+delaytime/1000;
|
// return;
|
// }
|
// }
|
// temptime = (tagslotpos*SLOTTIME_MS+100+10000)*100;
|
// delaytime = temptime-anchor_time;
|
// target_time = basesystimer+delaytime/1000;
|
|
}
|
uint16_t total_slotnum,last_time;
|
void SetNextPollTime(u16 time)
|
{
|
current_slotnum++;
|
if(current_slotnum==tag_frequency)
|
current_slotnum-=tag_frequency;
|
//time=5;
|
target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time%g_com_map[COM_INTERVAL])+10;
|
|
last_time=target_time;
|
// if(target_time>=990&&target_time<992)
|
// {
|
// current_slotnum++;
|
// target_time+=g_com_map[COM_INTERVAL];
|
// tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
|
// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
|
// }
|
if(target_time>=1000)
|
{target_time-=1000;}
|
// if(target_time<0)
|
// {target_time+=1000;}
|
|
}
|
|
extern float motor_keeptime;
|
uint8_t changemainbase_count,gotosleep_flag;
|
uint32_t frame_len;
|
int32_t salvebase_mindist;
|
int16_t intheight;
|
u32 l_u32QuwbTick = 0;
|
u32 response_timeout = 1000;
|
extern u16 beepontime;
|
u16 rec_maxrangelen;
|
u16 rec_anc_signalpower[MAX_NEARBASE_ANCNUM];
|
extern u8 bat_percent2;
|
char senddata[2048];
|
void HexToAsciiSendUDP(uint8_t* data,u8 len)
|
{
|
|
u8 i,temp;
|
|
for(i=0;i<len;i++)
|
{
|
temp = *data++;
|
sprintf(&senddata[2*i],"%x",temp>>4);
|
sprintf(&senddata[2*i+1],"%x",temp&0xf);
|
}
|
senddata[2*len] = 0x0d;
|
senddata[2*len+1] = 0x0a;
|
if(DBG_GetMode() == DBG_MODE_CFG)
|
Uart_Send(0, (HIDO_UINT8 *) senddata, 2*len+2);
|
//UDPClient_Uploadhex(senddata,2*len+2);
|
}
|
void SendHuiZongData(void)
|
{
|
usart_send[2] = 0x0c;//Õý³£Ä£Ê½
|
usart_send[3] = 15+8*(nearbase_num+1);//Êý¾Ý¶Î³¤¶È
|
memcpy(&usart_send[4],&dev_id,2);
|
usart_send[6] = frame_seq_nb;
|
usart_send[7] = frame_seq_nb>>8;
|
usart_send[8] = bat_percent2;
|
usart_send[9] = tx_near_msg[BUTTON_IDX];
|
|
memcpy(&usart_send[10],&intheight,2);
|
usart_send[12] = tag_frequency;
|
usart_send[13] = tagslotpos;
|
usart_send[14] = 0;
|
usart_send[15] = 0;
|
usart_send[16] = nearbase_num+1;
|
memcpy(&usart_send[17],&mainbase_id,2);
|
memcpy(&usart_send[19],&nearbaseid_list,2*nearbase_num);
|
memcpy(&usart_send[19+nearbase_num*2],&nearbase_distlist,4*nearbase_num+4);
|
memcpy(&usart_send[19+nearbase_num*6+4],&rec_anc_signalpower,2*nearbase_num+2);
|
|
checksum = Checksum_u16(&usart_send[2],23+8*nearbase_num);
|
memcpy(&usart_send[25+8*nearbase_num],&checksum,2);
|
//USART_puts(usart_send,27+8*nearbase_num);
|
HexToAsciiSendUDP(usart_send,27+8*nearbase_num);
|
}
|
struct tagpos_structure rectagpos;
|
void NearPoll(void)
|
{
|
static u8 insideUWB_count = 0,outsideUWB_count = 0;
|
uint32_t temp1,temp2,dw_systime,mindist_slavebaseid;
|
|
uint32_t final_tx_time;
|
u32 start_poll;
|
u8 i,j,getsync_flag=0,timeout,recusrdata_flag=0;
|
|
|
// USART_putc(current_slotnum);
|
dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //ÉèÖ÷¢Ëͺó¿ªÆô½ÓÊÕ£¬²¢É趨ÑÓ³Ùʱ¼ä
|
dwt_setrxtimeout(4000);
|
tag_succ_times = 0;
|
salvebase_mindist=999999;
|
if(next_nearbase_num>=MAX_NEARBASE_NUM)
|
{
|
next_nearbase_num = MAX_NEARBASE_NUM-1;
|
}
|
// if(outsideUWB_count++>RTK_SWOPENTIME*tag_frequency&&rtk_state==0)
|
// {
|
// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
|
// }
|
// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
|
|
recbase_num=0;
|
|
tx_near_msg[BATTARY_IDX] = bat_percent2;
|
tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2;
|
tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
|
tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
|
tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
|
memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
|
memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*4+4);
|
memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&rec_anc_signalpower,nearbase_num*2+2);
|
|
if(intheight!=0)
|
// intheight+=g_com_map[HEIGHTOFFEST_INDEX];
|
|
memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);
|
tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
|
memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
|
tx_near_msg[MESSAGE_TYPE_IDX] = MBX_POLL;
|
|
tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;
|
tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
|
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
|
|
dwt_writetxdata(28+8*nearbase_num, tx_near_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
|
dwt_writetxfctrl(28+8*nearbase_num, 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
|
dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//¿ªÆô·¢ËÍ£¬·¢ËÍÍê³ÉºóµÈ´ýÒ»¶Îʱ¼ä¿ªÆô½ÓÊÕ£¬µÈ´ýʱ¼äÔÚdwt_setrxaftertxdelayÖÐÉèÖÃ
|
|
tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
|
para_update = 0;
|
flag_finalsend=0;
|
flag_rxon=1;
|
flag_getresponse=0;
|
// start_count=HAL_LPTIM_ReadCounter(&hlptim1);
|
recbase_num=0;
|
timeout=ceil((float)nearbase_num*SLOT_SCALE)+2;
|
end_count=start_count+(timeout<<5);
|
if(end_count>=32768)
|
{end_count-=32768;}
|
mainbase_dist=100000;
|
mainbase_lost_count++;
|
// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
|
l_u32QuwbTick = HIDO_TimerGetTick();
|
while(HIDO_TimerGetTick()-l_u32QuwbTick<5)
|
{
|
while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//²»¶Ï²éѯоƬ״ֱ̬µ½³É¹¦½ÓÊÕ»òÕß·¢Éú´íÎó
|
{
|
|
if(HIDO_TimerGetTick()-l_u32QuwbTick>5)
|
break;
|
};
|
if(status_reg==0xffffffff)
|
{
|
// NVIC_SystemReset();
|
}
|
if (status_reg & SYS_STATUS_RXFCG)//Èç¹û³É¹¦½ÓÊÕ
|
{
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ¼Ä´æÆ÷±ê־λ
|
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //»ñµÃ½ÓÊÕµ½µÄÊý¾Ý³¤¶È
|
dwt_readrxdata(rx_buffer, frame_len, 0); //¶ÁÈ¡½ÓÊÕÊý¾Ý
|
dwt_setrxtimeout(0);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
|
dwt_rxenable(0);//´ò¿ª½ÓÊÕ
|
|
if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
|
{ u16 rec_nearbaseid,rec_nearbasepos;
|
poll_tx_ts = get_tx_timestamp_u64(); //»ñµÃPOLL·¢ËÍʱ¼äT1
|
resp_rx_ts = get_rx_timestamp_u64(); //»ñµÃRESPONSE½ÓÊÕʱ¼äT4
|
recbase_num++;
|
memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
|
if(rec_nearbaseid==mainbase_id)
|
{
|
//////////////////////////////////ʱ¼äͬ²½
|
memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
|
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
|
// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
|
dwt_forcetrxoff();
|
final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS) * UUS_TO_DWT_TIME)) >> 8;
|
final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final°üʵ¼Ê·¢ËÍʱ¼äÊǼÆËãʱ¼ä¼ÓÉÏ·¢ËÍÌìÏßdelay
|
final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//½«T1£¬T4£¬T5дÈë·¢ËÍÊý¾Ý
|
final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+nearbase_num*4], resp_rx_ts);
|
final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
|
tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
|
rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
|
if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
|
{
|
para_update = 1;
|
tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;
|
para_len = frame_len-22;
|
memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
|
}
|
dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//½«·¢ËÍÊý¾ÝдÈëDW1000
|
dwt_writetxfctrl(28+nearbase_num*4, 0);//É趨·¢ËÍÊý¾Ý³¤¶È
|
dwt_setdelayedtrxtime(final_tx_time);//ÉèÖÃfinal°ü·¢ËÍʱ¼äT5
|
result=dwt_starttx(DWT_START_TX_DELAYED);//É趨ΪÑÓ³Ù·¢ËÍ
|
userkey_state = !GET_USERKEY;
|
|
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
|
|
temp_dist+=(int16_t)g_com_map[DIST_OFFSET];
|
|
mainbase_dist=temp_dist;
|
nearbase_distlist[0] = temp_dist;
|
if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
|
motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
|
if(frame_len==28)
|
{
|
memcpy(&rec_maxrangelen,&rx_buffer[MAXRANGE_DISTANCE],2);
|
memcpy(&rec_anc_signalpower[0],&rx_buffer[ANC_SIGNALPOWER],2);
|
if(mainbase_dist>rec_maxrangelen&&mainbase_dist>0&&rec_maxrangelen!=0)
|
{
|
if(outrange_times++>OUTRANGE_RESTARTTIMES)
|
{
|
tag_state = DISCPOLL;
|
}
|
}else{
|
outrange_times = 0;
|
}
|
}
|
if(frame_len>28)
|
{
|
if(rx_buffer[TAGPOS_LEN_INDEX]<=55)
|
{
|
memcpy(&rectagpos,&rx_buffer[TAGPOS_INDEX],rx_buffer[TAGPOS_LEN_INDEX]+3);
|
recusrdata_flag = 1;
|
}
|
}
|
if(temp_dist!=0x1ffff)
|
mainbase_lost_count=0;
|
flag_finalsend=1;
|
memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
|
|
flag_getresponse=1;
|
//ʱ¼äͬ²½
|
//ancsync_time=((sync_timer)*1000+tmp_time);
|
|
// basesystimer = sync_timer;
|
// tmp_time=tmp_time+650;
|
// if(tmp_time>999)
|
// {
|
// tmp_time-=999;
|
// basesystimer++;
|
// if(basesystimer>=1000)
|
// {basesystimer=0;}
|
// }
|
// TIM3->CNT=tmp_time;
|
|
// current_slotnum=(sync_timer-0)/g_com_map[COM_INTERVAL];
|
// NextPollDelay(ancsync_time);
|
if(result==0)
|
{while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//²»¶Ï²éѯоƬ״ֱ̬µ½·¢ËÍÍê³É
|
{if(HIDO_TimerGetTick()-l_u32QuwbTick>5)
|
break; };}
|
break;
|
}else{
|
|
rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
|
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
|
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
|
|
temp_dist+=(int16_t)g_com_map[DIST_OFFSET];
|
|
if(frame_len==28)
|
memcpy(&rec_anc_signalpower[rec_nearbasepos+1],&rx_buffer[ANC_SIGNALPOWER],2);
|
memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buffer[NR_NEARSWITCH_DISTANCE],2);
|
nearbase_distlist[rec_nearbasepos+1]=temp_dist;
|
final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
|
if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]==1)
|
{
|
salvebase_mindist = temp_dist;
|
mindist_slavebaseid = rec_nearbaseid;
|
}
|
if(rec_nearbaseid==g_com_map[NEARBASE_ID1])
|
{
|
if(temp_dist<g_com_map[ALARM_DISTANCE1])
|
{
|
outsideUWB_count = 0;
|
if(insideUWB_count++>RTK_SWCLOSETIME*tag_frequency)
|
{
|
// CloseRTK4G();
|
}
|
}else{
|
insideUWB_count = 0;
|
}
|
}
|
#ifdef SWITCHBASE_ZHUANDIAN
|
if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]>1&&temp_dist>0)
|
{
|
changemainbase_count = 0;
|
mainbase_id = rec_nearbaseid;
|
trygetnearmsg_times = 0;
|
tag_state = GETNEARMSG;
|
}
|
#endif
|
}
|
}
|
}else{
|
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
|
if(recbase_num!=nearbase_num+1)
|
{dwt_rxenable(0); }
|
// if(flag_rxon)
|
// {
|
// dwt_rxenable(0);
|
// }
|
}
|
// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
|
}
|
if(flag_finalsend!=1)
|
{flag_finalsend = 2;}
|
dwt_forcetrxoff();
|
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
|
if(mainbase_lost_count==0)
|
{
|
#ifdef SWITCHBASE_DIST
|
if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
|
{
|
changemainbase_count++;
|
if(changemainbase_count>2)
|
{
|
mainbase_id = mindist_slavebaseid;
|
trygetnearmsg_times = 0;
|
tag_state = GETNEARMSG;
|
}
|
}else{
|
changemainbase_count = 0;
|
}
|
#endif
|
}else if(mainbase_lost_count>5)
|
{
|
tag_state = DISCPOLL;
|
}
|
|
if(para_update)
|
{
|
uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
|
pack_msgtype = rec_remotepara[0];
|
pack_index = rec_remotepara[1];
|
pack_length = rec_remotepara[2];
|
if(pack_msgtype==2)
|
{
|
if( pack_index == RTKCTRL_INDEX)
|
{
|
if(rec_remotepara[3]==1&&rtk_state == 0)
|
{
|
OpenRTK4G();
|
}
|
if(rec_remotepara[3]==0&&rtk_state == 1)
|
{
|
CloseRTK4G();
|
}
|
}else if( pack_index == MOTOR_ONTIME_INDEX)
|
{
|
// if(motor_keeptime==0)
|
// motor_keeptime = rec_remotepara[3];
|
if(beepontime==0)
|
beepontime = rec_remotepara[3];
|
}else{
|
if(pack_index<200)
|
{
|
if(pack_index==0x60)
|
{
|
tag_state = REGPOLL;
|
}else{
|
memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
|
//·µ»ØÒ»¸öerror״̬
|
//SendComMap(pack_datalen,pack_index);
|
save_com_map_to_flash();
|
printf("%s URTRestart",__debug_info__);
|
URTRestart();
|
}
|
}
|
}
|
}
|
}
|
for(i=0;i<nearbase_num;i++)
|
{
|
if(nearbaseid_list[i]!=nearbaseid_list2[i])
|
{
|
tag_state = DISCPOLL;
|
}
|
}
|
SendHuiZongData();
|
if(recusrdata_flag)
|
{
|
Uart_Send(0,rectagpos.data,rectagpos.datalen);
|
}
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
|
//HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
|
|
}
|
extern uint8_t module_power,imu_enable,motor_enable;
|
|
void Registor_Poll(void)
|
{
|
static u8 regpoll_count=0;
|
//tag_frequency = REGISTER_FREQUENCY;
|
bigslot_num = TOTAL_SLOTNUM/tag_frequency;
|
regpoll_count++;
|
if(regpoll_count%2)
|
{
|
if(tagslotpos--<2)
|
tagslotpos=TOTAL_SLOTNUM;
|
}
|
// SetNextPollTime(tagslotpos);
|
dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //ÉèÖ÷¢Ëͺó¿ªÆô½ÓÊÕ£¬²¢É趨ÑÓ³Ùʱ¼ä
|
dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
|
|
tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;
|
tx_near_msg[MESSAGE_TYPE_IDX] = REG_POLL;
|
tx_near_msg[REGP_FREQUENCY_INDEX] = 1000/g_com_map[COM_INTERVAL];
|
tx_near_msg[REGP_POWER_INDEX] = module_power;
|
memcpy(&tx_near_msg[REGP_VERSION_INDEX],&g_com_map[VERSION],2);
|
memcpy(&tx_near_msg[REGP_IMUTHRES_INDEX],&g_com_map[IMU_THRES],2);
|
memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[NOMOVESLEEP_TIME],2);
|
dwt_writetxdata(21, tx_near_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
|
dwt_writetxfctrl(21, 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
|
dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//¿ªÆô·¢ËÍ£¬·¢ËÍÍê³ÉºóµÈ´ýÒ»¶Îʱ¼ä¿ªÆô½ÓÊÕ£¬µÈ´ýʱ¼äÔÚdwt_setrxaftertxdelayÖÐÉèÖÃ
|
while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//²»¶Ï²éѯоƬ״ֱ̬µ½³É¹¦½ÓÊÕ»òÕß·¢Éú´íÎó
|
{
|
IdleTask();
|
|
};
|
id = dwt_readdevid() ;
|
if(status_reg==0xffffffff)
|
{
|
// NVIC_SystemReset();
|
}
|
if (status_reg & SYS_STATUS_RXFCG)//Èç¹û³É¹¦½ÓÊÕ
|
{
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ¼Ä´æÆ÷±ê־λ
|
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //»ñµÃ½ÓÊÕµ½µÄÊý¾Ý³¤¶È
|
dwt_readrxdata(rx_buffer, frame_len, 0); //¶ÁÈ¡½ÓÊÕÊý¾Ý
|
if (rx_buffer[MESSAGE_TYPE_IDX] == REG_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
|
{ u16 rec_nearbaseid,rec_nearbasepos;
|
|
memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
|
tag_frequency = rx_buffer[REGR_TAGFREQ_INDEX];
|
bigslot_num = TOTAL_SLOTNUM/tag_frequency;
|
tagslotpos = rx_buffer[REGR_TAGSLOTPOS_INDEX];
|
g_com_map[COM_INTERVAL] = 1000/tag_frequency;
|
//////////////////////////////////ʱ¼äͬ²½
|
memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
|
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
|
// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
|
// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
|
basesystimer = sync_timer;
|
tmp_time=tmp_time+450;
|
if(tmp_time>999)
|
{
|
tmp_time-=999;
|
basesystimer++;
|
if(basesystimer>=1000)
|
{basesystimer=0;}
|
}
|
TIM3->CNT=tmp_time;
|
|
//tag_frequency = 1000 / g_com_map[COM_INTERVAL];
|
bigslot_num = TOTAL_SLOTNUM/tag_frequency;
|
// NextPollDelay(ancsync_time);
|
// SetNextPollTime(tagslotpos);
|
mainbase_id=rec_nearbaseid;
|
nearbase_num=rx_buffer[NEARBASENUM_INDEX];
|
memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
|
memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
|
if(tagslotpos==255)
|
{
|
tagslotpos = basesystimer%bigslot_num;
|
}
|
tyncpoll_time=tagslotpos*slottime; //ʱ϶ϵÄʱ¼ä
|
tag_state = DISCPOLL;
|
}
|
}else{
|
tyncpoll_time=(tagslotpos--%max_slotpos)*slottime;
|
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
|
}
|
}
|
u32 id,error_times=0,uwbstatus_reg;
|
u8 test3;
|
void UWB_Wkup(void)
|
{
|
|
SPIx_CS_GPIO->BSRR = SPIx_CS<<16;
|
delay_us(1000);
|
SPIx_CS_GPIO->BSRR = SPIx_CS;
|
id = dwt_readdevid() ;
|
while (DWT_DEVICE_ID != id)
|
{
|
id = dwt_readdevid() ;
|
}
|
uwbstatus_reg = dwt_read32bitreg(CHAN_CTRL_ID) ;
|
if(uwbstatus_reg != 0x4A7A0022)
|
{
|
Dw1000_Init();
|
}
|
}
|
void Tag_App(void)//·¢ËÍģʽ(TAG±êÇ©)
|
{
|
//LED0_ON;
|
UWB_Wkup();
|
switch(tag_state)
|
{
|
case REGPOLL:
|
// LED_LG_ON;
|
Registor_Poll();
|
// LED_LG_OFF;s
|
break;
|
case DISCPOLL:
|
// LED_LG_ON;
|
Poll();
|
// LED_LG_OFF;
|
break;
|
case GETNEARMSG:
|
trygetnearmsg_times++;
|
// LED_LG_ON;
|
GetNearMsg();
|
// LED_LG_OFF;
|
if(trygetnearmsg_times>5)
|
{
|
tag_state = DISCPOLL;
|
}
|
break;
|
case NEARPOLL:
|
NearPoll();
|
break;
|
case SINGLEPOLL:
|
Poll();
|
break;
|
}
|
SetNextPollTime(tyncpoll_time);
|
dwt_entersleep();
|
// UWBLED_BLINK;
|
userkey_state = 0;
|
// if(test3)
|
// {
|
// test3 = 0;
|
// CloseRTK4G();
|
// }
|
}
|
